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Halep cruised to a 6-1 6-3 victory, becoming the first Romanian woman to reach the singles final at the All England Club.
Halep is through to the last four at Wimbledon for the first time since 2014 after a 7-6(4), 6-1 victory over China's Zhang Shuai.
The 21-year-old committed a string of unforced errors but still proved too strong for the sixth-seeded Ukrainian Elina Svitolina.
She is the first player to go through the season-ending tournament undefeated since Serena Williams in 2013.
Former US Open champion Sloane Stephens triumphed against an inconsistent Karolina Pliskova 0-6, 6-4, 6-1 in one hour and 55 minutes.
Kiki Bertens advanced to the semis after Naomi Osaka retired with a left hamstring injury at the end of first set.
Svitolina produced one of the best performances to overcome defending champion Wozniacki 5-7, 7-5, 6-3.
Karolina Pliskova became the first woman to advance to the last four of the tournament.
Caroline Wozniacki got her WTA Finals title defence back on track with a 7-5, 3-6, 6-2 victory over Petra Kvitova.
A win on Saturday would also give the 36-year-old American a seventh US Open title, breaking a tie with Chris Evert for the most in the Open era.